Interventional device

ABSTRACT

An interventional device includes a base having an upper surface, a cup-shaped frame, a probe positioner, and a radio frequency coil. The cup-shaped frame is mounted to the base and configured to receive a body part. The probe positioner is mounted to at least one of the base and the cup-shaped frame, and is capable of rotating about a longitudinal axis which is perpendicular to the upper surface of the base. The radio frequency coil is mounted to the cup-shaped frame and is configured to rotate about the longitudinal axis.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent Application No. 60/915,842, filed May 3, 2007, titled “INTERVENTIONAL DEVICE WITH SOLENOID RADIO FREQUENCY COIL,” the disclosure of which is herein incorporated by reference in its entirety.

STATEMENT REGARDING FEDERAL FUNDING

The United States Government may have rights in this invention pursuant to an award titled “UW Comprehensive Cancer Center Support” from the National Institute of Health to the University of Wisconsin under agreement numbers 5 P30 CA014520-33 and 3 P30 CA014520-33S2.

FIELD

The subject of the disclosure relates generally to an interventional device for use with a magnetic resonance imaging machine. More specifically, the disclosure relates an interventional device for and method of treating a target tissue where the interventional device includes at least one of an integrated radio frequency coil, a stabilization bladder, and a plurality of degrees of freedom for providing three dimensional access to a target tissue.

BACKGROUND

Breast cancer is a fatal disease caused by the growth of cancerous cells within breast tissue. These cancerous cells form a lump, cyst, lesion, etc. which can grow at an alarming rate and, if left undetected, can even spread beyond the breast. Unfortunately, even with an increasing number of breast cancer cases reported each year, many women are still reluctant to go in for scheduled examinations or to receive treatment for non-cancerous lumps. A major reason for this reluctance is the physical and psychological discomfort that are experienced during examinations and treatments.

Traditional technologies and methods for detecting breast cancer are being replaced by more effective magnetic resonance imaging (MRI) techniques. Breast MRI examinations are becoming more widespread for use in detecting breast cancer, and for pretreatment staging and therapy planning for newly diagnosed cancers. New guidelines from the American Cancer Society now recommend the routine use of breast MRI for surveillance of breast cancer within the high-risk population. This increased demand for breast MRI examinations is creating a greater need for MRI-guided interventions of breast disease.

Unfortunately, magnetic resonance imaging-guided breast interventions using presently available tools and techniques are still time consuming and often painful. Present techniques entail compressing the breast between parallel plates to immobilize a target tissue and to reconfigure the natural three dimensional shape of the breast tissue into an approximately planar shape. Once the breast is compressed between the plates, the target tissue is located and an interventional tool is used to contact the target tissue. In many instances, the patient is removed from the MRI machine prior to using the interventional tool or the interventional tool is manually used, resulting in additional time to perform the intervention. In addition, due to inherent interventional tool limitations, the compressed planar shape of the breast, and interference from the compression plates, traditional interventional tools do not provide complete three dimensional access to the breast in a way which allows minimal tissue penetration to reach the target tissue.

SUMMARY

An exemplary interventional device includes a base having an upper surface, a cup-shaped frame, a probe positioner, and a radio frequency coil. The cup-shaped frame is mounted to the base and capable of receiving a body part. The probe positioner is mounted to at least one of the base and the cup-shaped frame, and is capable of rotating about a longitudinal axis which is perpendicular to the upper surface of the base. The radio frequency coil is mounted to the cup-shaped frame and is rotatable with the base and the cup-shaped frame.

An exemplary rotatable radio frequency coil for use with an interventional device is a solenoid radio frequency coil which includes a first turn mounted along a first portion of an outer wall of a cup-shaped frame of an interventional device. The first turn lies in a first plane. The interventional device includes a base having an upper surface, the cup-shaped frame mounted to the base, and a probe guide mounted to at least one of the base and the cup-shaped frame. The solenoid radio frequency coil further includes a second turn mounted along a second portion of the outer wall of the cup-shaped frame such that the second turn lies in a second plane. A first solenoid leg connects the first turn and the second turn.

An exemplary method of performing a medical procedure using the exemplary interventional device includes generating a magnetic resonance image of the body part using a magnetic resonance imaging machine and a radio frequency coil. A target tissue within the body part is identified based on the magnetic resonance image. The probe positioner is positioned such that a medical device mounted to the probe positioner is aligned with the target tissue. The target tissue is contacted with the medical device.

An exemplary method of generating a magnetic resonance image using the exemplary interventional device includes generating a magnetic field. The interventional device and the body part are placed within the magnetic field to induce a first resonant state of atoms within the body part. A radio frequency signal is applied to the body part to induce a second resonant state of the atoms within the body part, where the second resonant state is a higher energy state than the first resonant state. The radio frequency signal is removed, and the radio frequency coil is used to detect released energy as the atoms return from the second resonant state back to the first resonant state. A magnetic resonance image of the body part is obtained based on the detected released energy.

An exemplary system for performing a medical procedure includes the exemplary interventional device and a magnetic resonance imaging machine capable of receiving the interventional device.

Another exemplary interventional device includes a base having an upper surface and a cup-shaped frame mounted to the base. The cup-shaped frame is capable of receiving a body part. The interventional device also includes a probe positioner mounted to at least one of the base and the cup-shaped frame, where the probe positioner is capable of rotating about a longitudinal axis which is perpendicular to the upper surface of the base. The interventional device further includes a bladder mounted to an inner surface of the cup-shaped frame, wherein the bladder is adapted to stabilize the body part.

Other principal features and advantages will become apparent to those skilled in the art upon review of the following drawings, the detailed description, and the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments will hereafter be described with reference to the accompanying drawings.

FIG. 1 is a perspective view of an interventional device with an integrated solenoid radio frequency coil in accordance with an exemplary embodiment.

FIG. 2 is a solenoid radio frequency coil for use with an interventional device in accordance with an exemplary embodiment.

FIG. 3 is an exploded view illustrating a bladder of the interventional device in accordance with an exemplary embodiment.

FIG. 4 is a rear view of a cup-shaped frame with an integrated solenoid radio frequency coil in accordance with an exemplary embodiment.

FIG. 5 is a perspective view of a partial patient support platform in accordance with an exemplary embodiment.

DETAILED DESCRIPTION

The inventors have perceived a need for a magnetic resonance imaging-guided interventional device which is able to stabilize a breast without causing physical discomfort to the patient. The inventors have also perceived a need for an interventional device which can provide true three dimensional access to the breast, thereby improving the accuracy and efficiency, and reducing the cost of MRI-guided interventional procedures. The inventors have further perceived a need for an MRI-guided interventional device that can be used without removing the patient from the magnetic resonance machine.

FIG. 1 is a perspective view of an interventional device 100 with an integrated solenoid radio frequency (RF) coil in accordance with an exemplary embodiment. In alternative embodiments, any other type of radio frequency coil or radio frequency device may be used. In an exemplary embodiment, interventional device 100 can be used to stabilize a body part such that a target tissue within the body part can be treated. Treatment can refer to any of a variety of medical interventions such as extracting a target tissue sample for biopsy, placing a radiologically visible marker or substance at the target tissue site, excising the target tissue, ablating the target tissue, delivering a therapeutic or pharmaceutical substance to the target tissue, etc. The target tissue can be a tumor, a lump, a cyst, a lesion, or any other bodily tissue. Interventional device 100 is also adapted to receive and position a medical device for treating the stabilized body part. As described in more detail below, interventional device 100 includes a plurality of degrees of freedom which provide the medical device with three dimensional access to the body part. The body part can be a breast.

The solenoid (or other) radio frequency (RF) coil of interventional device 100 can be used in conjunction with a magnetic resonance imaging (MRI) machine such that an image of the body part can be obtained. The image can be used along with interventional device 100 to perform an image guided intervention of the target tissue. The solenoid RF coil includes a first turn 105, a second turn 110, and third turn 115. In alternative embodiments, the solenoid RF coil can include any other number of turns. First turn 105, second turn 110, and third turn 115 are mounted to a cup-shaped frame 120 of interventional device 100. As used herein, the term “mount” can include join, unite, connect, associate, insert, hang, hold, affix, attach, fasten, bind, paste, secure, bolt, nail, glue, screw, rivet, solder, weld, and other like terms. The turns of the solenoid RF coil can be made of copper or any other conducting material known to those of skill in the art. In an exemplary embodiment, the turns of the solenoid RF coil can be in the form of conducting strips or ribbons (i.e., thin strips of a conducting material). Alternatively, the turns can be in the form of conducting wires or any other conducting segments.

In an exemplary embodiment, a ‘cup-shaped’ frame can refer to any frame with a concave inner surface adapted to receive a body part such as a breast. The inner surface of the cup-shaped frame can be circular, elliptical, cylindrical, or any other cup-like shape adapted to receive the body part. Alternatively, the cup-shaped frame can refer to a plurality of frames arranged to form a concave inner surface for receiving a breast. The cup-shaped frame can also come in different sizes to accommodate patients of different sizes. The solenoid RF coil can be mounted to cup-shaped frame 120 such that an upper surface of first turn 105 lies in a plane which is substantially parallel to a plane containing an upper surface of a base 125 of interventional device 100. An upper surface of second turn 110 can lie in a plane which is substantially parallel to the plane which contains the upper surface of first turn 105 and the plane containing the upper surface of base 125. Similarly, an upper surface of third turn 115 can lie in a plane which is substantially parallel to the plane which contains the upper surface of second turn 110, the plane which contains the upper surface of first turn 105 and the plane containing the upper surface of base 125. In an exemplary embodiment, the turns can be mounted with any orientation relative to cup-shaped frame 120. For example, a turn may be a conducting strip with two faces and two sides. The conducting strip can be mounted horizontally such that a face of the conducting strip lies in a plane which is substantially parallel to base 125. Alternatively, the conducting strip can be mounted vertically such that a side of the conducting strip lies in the plane which is substantially parallel to base 125. In one embodiment, cup-shaped frame 120 can include one or more ledges adapted to receive the turns of the solenoid RF coil.

In an exemplary embodiment, the turns of the solenoid RF coil are mounted as spaced concentric shapes which substantially conform to an outer surface of cup-shaped frame 120. In one embodiment, the outer surface of cup-shaped frame 120 can have a circular shape such that the turns of the solenoid RF coil are concentric circles. Alternatively, the outer surface of cup-shaped frame 120 can be any other shape including ovular, square, rectangular, etc., and the turns of the solenoid RF coil can be shaped accordingly. In an alternative embodiment, the shape of the turns may be different from that of the outer surface of cup-shaped frame 120. For example, the outer surface of cup-shaped frame may be square, and the turns of the solenoid RF coil may be circular. In another alternative embodiment, the turns of the solenoid RF coil may be mounted to cup-shaped frame 120 in any other configuration. For example, the turns may be mounted such that one or more of the turns lie in planes which are not substantially parallel to the upper surface of base 125. Alternatively, the turns may be mounted to an inner surface of cup-shaped frame 120.

In one embodiment, spacing between the turns of the solenoid RF coil can be equidistant such that a distance between first turn 105 and second turn 110 can be the same as a distance between second turn 110 and third turn 115. Alternatively, the spacing between turns may be unequal. In an exemplary embodiment, consecutive turns of the solenoid RF coil can be connected by conducting coil legs such that the solenoid RF coil is continuous along its length. FIG. 4 is a rear view of a cup-shaped frame 400 with an integrated solenoid RF coil in accordance with an exemplary embodiment. A first coil leg 405 connects a first turn 410 and a second turn 415 of the integrated solenoid RF coil. Similarly, a second coil leg 420 connects second turn 415 and a third turn 425. In an alternative embodiment, first coil leg 405 and/or second coil leg 420 can be positioned at any other angle(s) relative to the turns.

FIG. 2 is a solenoid RF coil 200 for use with an interventional device in accordance with an exemplary embodiment. Solenoid RF coil 200 includes a first turn 205, a second turn 210, and a third turn 215. Solenoid RF coil 200 also includes a first connecting end 220 connected at first turn 205 and a second connecting end 225 connected at third turn 215. A first coil leg 230 joins first turn 205 and second turn 210, and a second coil leg 235 joins second turn 210 and third turn 215. First connecting end 220 of solenoid RF coil 200 is in communication with a tuning module 240 through a conducting line 245. In an exemplary embodiment, tuning module 240 can be incorporated within base 125 of interventional device 100 described with reference to FIG. 1. Alternatively, tuning module 240 can be in electrical communication with solenoid RF coil 200 from a location external to the interventional device to which solenoid RF coil 200 is mounted. In an exemplary embodiment, tuning module 240 can include a matching capacitor and a tuning capacitor such that solenoid RF coil 200 can be matched and tuned as known to those of skill in the art. Alternatively, tuning module 240 can include any other components capable of matching and/or tuning solenoid RF coil 200.

A coaxial cable 255 can be used such that solenoid RF coil 200 is in electrical communication with an MRI machine (not shown). A conducting line 260 can be used to connect second connecting end 225 to coaxial cable 255, and a conducting line 250 can be used to connect first connecting end 220 to coaxial cable 255. Coaxial cable 255 can be connected to an input port of the MRI machine such that the MRI machine is able to send and/or receive signals through solenoid RF coil 200. In an alternative embodiment, a coaxial cable may not be used, and solenoid RF coil 200 can be connected to the MRI machine directly through conducting line 260 and conducting line 250, or by any other method known to those of skill in the art.

In operation, solenoid RF coil 200 can be used by the MRI machine to generate magnetic resonance images of a body part as known to those of skill in the art. In one embodiment, solenoid RF coil 200 can be used to direct an RF pulse into a body part which is placed in cup-shaped frame 120 of interventional device 100 described with reference to FIG. 1. The RF pulse can be provided by the MRI machine or by any other pulse generating device known to those of skill in the art. The RF pulse can be used to excite atomic particles such as hydrogen protons within the body part such that an energy level of the atomic particles is increased from a first energy state to a second energy state. When the pulse is terminated, the excited atomic particles will release energy as they return from the second energy state back to the first energy state. The released energy, which can be detected in the form of electromagnetic signals, can be received by solenoid RF coil 200 and provided to the MRI machine through coaxial cable 255. The MRI machine can use Fourier transforms and/or other mathematical algorithms to convert the electromagnetic signals into the magnetic resonance image of the body part. In an alternative embodiment, solenoid RF coil 200 may only be used to receive the electromagnetic signals corresponding to the released energy of the atomic particles, and the RF pulse may be provided through a different device. The RF pulse can be provided through an RF generator, the MRI machine, or any other pulse generating device known to those of skill in the art.

Referring back to FIG. 1, interventional device 100 also includes a probe positioner 140. Probe positioner 140 can be mounted to cup-shaped frame 120, to base 125, and/or to both cup-shaped frame 120 and base 125. Probe positioner 140 includes a probe guide 145 which is adapted to receive a medical device (not shown). The medical device can be a tumor ablation device, such as a cryotherapy device, a photo-laser device, a direct electrical current device, a high frequency focused ultrasound and radiofrequency device, etc. The medical device can also be a tumor excision device such as a vacuum assisted biopsy/excision device, a tissue marker placement device, or a drug/chemical delivery device adapted to deliver anesthesia, contrast agents, and/or therapeutic agents to a patient. Alternatively, the medical device can be any other type of medical device which is capable of examining or treating a target tissue within a breast. The medical device can be used as known to those of skill in the art to treat the target tissue.

In an exemplary embodiment, the medical device can access the body part through a lower window 130 or an upper window 135 of cup-shaped frame 120. Lower window 130 is positioned between first turn 105 and second turn 110, and upper window 135 is positioned between second turn 110 and third turn 115. In embodiments in which the solenoid RF coil includes more turns, one or more windows may be provided between each pair of consecutive turns. Lower window 130 and/or upper window 135 can be apertures of any size or shape which allow unobstructed access to the body part. Alternatively, either or both of the windows may include a plurality of apertures through which the medical device can be inserted.

In an exemplary embodiment, interventional device 100 can have a plurality of degrees of freedom such that the medical device mounted to probe guide 145 is provided with unobstructed three-dimensional access to the breast. A first degree of freedom allows base 125, cup-shaped frame 120, the radio frequency coil, and probe positioner 140 to rotate bi-directionally in a complete circle. Rotation can be about an axis 142 which is substantially perpendicular to base 125 and which extends through a center of cup-shaped frame 120. The radio frequency coil may be configured to rotate independent of cup-shaped frame 120, base 125, and/or probe positioner 140. Alternatively, the radio frequency coil may rotate in unison with base 125 and/or cup-shaped frame 120. In one embodiment, rotation can be implemented through a rotation controller 150. Rotation controller 150 includes a first handle 152 and a second handle 154 such that rotation can be achieved from either side of a patient. When either first handle 152 or second handle 154 is turned, a rotational gear 156 interacts with a rotational gear track 158 embedded in base 125, causing base 125 to rotate. In an exemplary embodiment, turning first handle 152 in a clockwise direction (or turning second handle 154 in a counter clockwise direction) can cause base 125 to rotate in a clockwise direction, and turning first handle 152 in a counter clockwise direction (or turning second handle 154 in a clockwise direction) can cause base 125 to rotate in a counter clockwise direction.

Rotation controller 150 also includes a release mechanism 160 which allows rotational gear 156 to be disengaged from rotational gear track 158 such that base 125 can be rotated by hand. Release mechanism 160 beneficially allows a user to rapidly rotate base 125 by a large angle (i.e. 180 degrees) without having to use first handle 152 or second handle 154. Once the large angle is traversed, release mechanism 160 can be used to reengage rotational gear 156 and rotational gear track 158, and first handle 152 and second handle 154 can be used to precisely fine tune the rotational position of probe guide 145. In alternative embodiments, rotation controller 150 and/or release mechanism 160 can be implemented using any other mechanism(s) and/or by any other method(s) known to those of skill in the art.

A second degree of freedom of interventional device 100 allows probe positioner 140 to rotate about axis 142 independently of cup-shaped frame 120. In an exemplary embodiment, probe positioner 140 can rotate about cup-shaped frame 120 by sliding across the upper surface of base 125. Alternatively, probe positioner 140 may slide in a circular groove (not shown) within base 125. In another exemplary embodiment, the independent rotation of probe positioner 140 can allow probe positioner 140 to span at least a width of lower window 130 and upper window 135. Independent rotation of probe positioner 140 advantageously allows the rotational angle of the medical device to be adjusted after the patient is immobilized. The independent rotation can be controlled by an independent rotation controller which can be implemented using any method known to those of skill in the art.

As an example of independent rotation, an approximate trajectory path of the medical device may be known prior to placing a patient in interventional device 100 and the MRI machine. The approximate trajectory path can be determined through x-rays, a prior MRI scan, a visible lump, or by any other method. Rotation controller 150 can be used to rotate base 125 such that probe guide 145 is aligned with the approximate trajectory path prior to stabilizing the patient within interventional device 100. After stabilizing the patient, it may be determined that the approximate trajectory path should be adjusted or finely tuned to optimally align the medical device with the target tissue, to avoid a vein, to avoid a blood vessel, to avoid an implant or other structure within the body part, etc. Without independent rotation of probe positioner 140, it may be necessary to remove the patient from interventional device 100, use rotation controller 150 to adjust base 125 (and probe positioner 140), and re-stabilize the patient prior to performing an intervention. With the independent rotation, probe positioner 140 can easily be rotated such that the vein or blood vessel is avoided.

A third degree of freedom of interventional device 100 allows an elevation of probe positioner 140 to be adjusted. The elevation can refer to a vertical distance relative to base 125. An elevation controller 162 can be used to adjust the elevation of probe positioner 140 by causing probe positioner 140 to slide up or down along a first elevator pole 164 and a second elevator pole 166. Elevation controller 162 can be a thumbwheel which is threaded onto first elevator pole 164. Alternatively, elevation controller 162 can be implemented using any other mechanism(s) and/or by any other method known to those of skill in the art.

A fourth degree of freedom of interventional device 100 allows probe guide 145 to be pivoted (or tilted) in a vertical direction relative to base 125. As such, a medical device mounted to probe guide 145 can pivot such that a tip of the medical device moves up and down in a plane which is substantially perpendicular to the upper surface of base 125. A pivot point of probe guide 145 (and medical device) can be located within a body of probe positioner 140. A vertical pivot controller 168 can be used to control vertical pivoting by rotating a vertical pivot gear 170 in communication with probe guide 145. Alternatively, vertical pivot controller 162 can be implemented using any other mechanism(s) and/or by any other method known to those of skill in the art.

A fifth degree of freedom of interventional device 100 allows probe positioner 140 to be pivoted (or angulated) in a horizontal direction relative to base 125. As such, a medical device mounted to probe guide 145 can pivot such that a tip of the medical device moves left and right in a plane which is substantially parallel to the upper surface of base 125. A horizontal pivot controller 172 can be used to control horizontal pivoting through a horizontal pivot gear 174 which is engaged with a horizontal pivot gear track mounted to probe positioner 140. In alternative embodiments, horizontal pivot controller 172 can be implemented using any other mechanism(s) and/or by any other method known to those of skill in the art. In one embodiment, a pivot point for the horizontal pivoting can be a center of probe positioner 140. In an alternative embodiment, the horizontal pivoting may be implemented such that only probe guide 145 pivots, and the pivot point of probe guide 145 can be within the body of probe positioner 140.

A sixth degree of freedom of interventional device 100 can be an insertion depth of a medical device mounted to probe guide 145. The insertion depth can refer to a straight line distance from probe guide 145 to the target tissue within the breast. The insertion depth can be controlled by any method known to those of skill in the art. In alternative embodiments, interventional device 100 may include additional degrees of freedom. For example, a seventh degree of freedom of interventional device 100 may allow horizontal translation of probe guide 145 and/or probe positioner 140. Horizontal translation can refer to straight line movement along a path which is tangential to cup-shaped frame 120.

Any or all of the degrees of freedom described herein can be controlled by one or more motors. The one or more motors can be any type(s) of force transducers which are capable of transforming a movement instruction or signal into a rotary or linear displacement. In an exemplary embodiment, the one or more motors can be MRI-compatible. As an example, instead of rotation controller 150, interventional device 100 can include a rotation motor adapted to rotate base 125 by any angle. Similarly, an elevation motor can be used to control the elevation of interventional device 100. In one embodiment, the one or more motors can be remotely controllable such that an image guided intervention can easily be performed from a location which is external to the magnetic resonance imaging machine.

Interventional device 100 also includes a bladder 180 which is adapted to immobilize the breast within cup-shaped frame 120. Bladder 180 can be made of any material which is capable of being placed in direct contact with the skin of a patient. In an exemplary embodiment, bladder 180 can be an inflatable bladder adapted to receive a stabilizing substance after the breast or other body part is placed into cup-shaped frame 120. The stabilizing substance, which can be any combination of liquid, solid, and gaseous matter, can cause bladder 180 to expand, thereby immobilizing the breast. In an exemplary embodiment, the stabilizing substance can be a thixotropic fluid. Alternatively, the stabilizing substance can be any combination of a thixotropic fluid, a rhealogic fluid, a saline solution, air, etc. In another exemplary embodiment, the stabilizing substance inserted into bladder 180 can be heated to a temperature of approximately 98.6 degrees such that patient discomfort is minimized. Alternatively, the stabilizing substance can be heated to any other temperature. The stabilizing substance can be heated by a heating element which may be incorporated within interventional device 100. Alternatively, the heating element may be external to interventional device 100. The stabilizing substance can be placed into bladder 180 through an injection port 182 by any method known to those of skill in the art.

Bladder 180 includes a first chamber 184, a second chamber 186, and a third chamber 188. In an exemplary embodiment, each of the bladder chambers can be injected with the stabilizing substance independently such that the breast can be positioned off-center of cup-shaped frame 120 and/or such that cup-shaped frame 120 can receive breasts of any size and shape. As such, each of first chamber 184, second chamber 186, and third chamber 188 may have a distinct injection port. Alternatively, injection port 182 may be used to fill all three chambers. In one embodiment, a plurality of bladder sizes can also be available such that a single cup-shaped frame 120 can accommodate a wide array of breast sizes. In an alternative embodiment, bladder may include a single chamber, two chambers, four chambers, or any other number of chambers. Bladder 180 also includes a bladder aperture 190 which is aligned with lower window 130 and upper window 135. Bladder aperture 190 allows the medical device mounted to probe guide 145 to have unobstructed access to the immobilized breast.

FIG. 3 is an exploded view illustrating bladder 180 of interventional device 100 in accordance with an exemplary embodiment. Bladder 180 can be mounted to a bladder shell 300, and bladder shell 300 can be mounted to cup-shaped frame 120. In an exemplary embodiment, bladder shell 300 can be a hard plastic insert which is adapted to receive bladder 180. Alternatively, bladder shell 300 can be made of any other material. In another exemplary embodiment, bladder 180 and bladder shell 300 can be a one piece disposable unit. As such, bladder 180 can be efficiently replaced following an interventional procedure, and there is no need to sterilize bladder 180 after each use.

FIG. 5 is a perspective view of a partial patient support platform 500 in accordance with an exemplary embodiment. Patient support platform 500 can be a table upon which a patient lies during an MRI scan and intervention. Patient support platform 500 includes a device cavity 505 adapted to receive interventional device 100. Interventional device 100 can be positioned within device cavity 505 such that the breast with the target tissue is received by interventional device 100. Device cavity 505 also includes a support device 510 which is adapted to receive a second breast of the patient. In one embodiment, support device 510 may include a bladder or padding such that the second breast is stabilized. In an alternative embodiment, support device 510 may be an interventional device similar to interventional device 100. In such an embodiment, support device 510 can include a second solenoid RF coil such that bilateral magnetic resonance imaging of both breasts can be performed simultaneously. Alternatively, support device 510 may include the second solenoid RF coil for bilateral MRI without a second interventional device. In another alternative embodiment, support device 510 may not be included.

During a procedure, a patient can be asked to lie on patient support platform 500 such that a breast which includes target tissue is placed within interventional device 100. Rotation controller 150 described with reference to FIG. 1 can be used to rotate base 125 such that probe guide 145 is approximately aligned with an anticipated trajectory path. Bladder 180 can be inflated as described with reference to FIG. 1 such that the breast with the target tissue is stabilized. Patient support platform 500 can be placed (along with the patient) into a magnetic resonance imaging (MRI) machine. The solenoid RF coil integrated into interventional device 100 can be used by the MRI machine to create a magnetic resonance image of the breast and the target tissue. The magnetic resonance image can be used to determine a trajectory path for a medical device mounted to probe positioner 140 such that the medical device is able to contact the target tissue. The degrees of freedom of interventional device 100 can be used to align the medical device with the target tissue based on the trajectory path. In one embodiment, interventional device 100 can be manually aligned with the target tissue by turning first handle 152, elevation controller 162, and so on. Alternatively, interventional device 100 can be remotely controlled through motors adapted to control the degrees of freedom. Once probe positioner 140 is aligned with the target tissue, the medical device can be used to treat the target tissue. The medical device can be controlled manually or remotely depending on the embodiment.

The foregoing description of exemplary embodiments has been presented for purposes of illustration and of description. It is not intended to be exhaustive or limiting with respect to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the disclosed embodiments. It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents. 

1.-20. (canceled)
 21. An interventional device comprising: a base having an upper surface; a frame mounted to the base and configured to rotate about a longitudinal axis which is perpendicular to the upper surface of the base, wherein the frame is further configured to receive a body part; a probe positioner mounted to at least one of the base or the frame, wherein the probe positioner is configured to rotate about the longitudinal axis which is perpendicular to the upper surface of the base, and further wherein the probe positioner is configured to rotate independently of the frame; and a probe guide mounted to the probe positioner and configured to receive a medical device, wherein the probe guide is configured to pivot in a vertical direction such that a tip of the medical device moves up and down in a first plane which is substantially perpendicular to the upper surface of the base, and further wherein the probe guide is configured to pivot in a horizontal direction such that the tip of the medical device moves left and right in a second plane which is substantially parallel to the upper surface of the base.
 22. The interventional device of claim 21, wherein the frame comprises a window.
 23. The interventional device of claim 22, wherein the probe guide is mounted such that the medical device is configured to contact the body part through the window.
 24. The interventional device of claim 21, further comprising a bladder disposed within the frame, wherein the bladder is configured to stabilize the body part.
 25. The interventional device of claim 24, further comprising a stabilizing substance contained in the bladder, wherein the stabilizing substance comprises one or more of a rhealogic fluid, a thixotropic fluid, air, or a saline solution.
 26. The interventional device of claim 24, further comprising a heating element configured to heat the stabilizing substance.
 27. The interventional device of claim 24, wherein the bladder comprises a first chamber and a second chamber, wherein the first chamber is configured to receive a first stabilizing substance through a first injection port and the second chamber is configured to receive a second stabilizing substance through a second injection port.
 28. The interventional device of claim 21, further comprising: a rotational gear track operably coupled to the base; a rotational gear operably coupled to the rotational gear track; and a handle operably coupled to the rotational gear, wherein movement of the handle causes the base to rotate about the longitudinal axis which is perpendicular to the upper surface of the base.
 29. The interventional device of claim 28, further comprising a release mechanism configured to release the rotational gear from the rotational gear track for large angle rotation of the base.
 30. The interventional device of claim 21, further comprising an elevator pole, wherein the probe positioner is configured to move up and down along the elevator pole relative to the upper surface of the base.
 31. The interventional device of claim 21, wherein the probe guide is further configured to adjust an insertion depth of the medical device.
 32. The interventional device of claim 21, wherein the probe guide is further configured to translate horizontally along a path which is tangential to the frame and in a third plane which is parallel to the upper surface of the base.
 33. A method of performing a medical procedure, the method comprising: placing a body part into an interventional device, wherein the interventional device comprises a base having an upper surface; a frame mounted to the base and configured to rotate about a longitudinal axis which is perpendicular to the upper surface of the base, wherein the frame is further configured to receive a body part; a probe positioner mounted to at least one of the base or the frame, wherein the probe positioner is configured to rotate about the longitudinal axis which is perpendicular to the upper surface of the base, and further wherein the probe positioner is configured to rotate independently of the frame; and a probe guide mounted to the probe positioner and configured to receive a medical device, wherein the probe guide is configured to pivot in a vertical direction such that a tip of the medical device moves up and down in a first plane which is substantially perpendicular to the upper surface of the base, and further wherein the probe guide is configured to pivot in a horizontal direction such that the tip of the medical device moves left and right in a second plane which is substantially parallel to the upper surface of the base; and generating a magnetic resonance image of the body part using a magnetic resonance imaging machine and a radio frequency coil.
 34. The method of claim 33, further comprising identifying a target location in the body part based at least in part on the magnetic resonance image.
 35. The method of claim 34, further comprising: positioning the probe positioner such that a medical device mounted to the probe positioner is aligned with the target tissue; and contacting the target location with the medical device.
 36. The method of claim 35, wherein the probe positioner is positioned from a remote location.
 37. A system for performing a medical procedure comprising: an interventional device comprising a base having an upper surface; a frame mounted to the base and configured to rotate about a longitudinal axis which is perpendicular to the upper surface of the base, wherein the frame is further configured to receive a body part; a probe positioner mounted to at least one of the base or the frame, wherein the probe positioner is configured to rotate about the longitudinal axis which is perpendicular to the upper surface of the base, and further wherein the probe positioner is configured to rotate independently of the frame; and a probe guide mounted to the probe positioner and configured to receive a medical device, wherein the probe guide is configured to pivot in a vertical direction such that a tip of the medical device moves up and down in a first plane which is substantially perpendicular to the upper surface of the base, and further wherein the probe guide is configured to pivot in a horizontal direction such that the tip of the medical device moves left and right in a second plane which is substantially parallel to the upper surface of the base; and a magnetic resonance imaging machine configured to receive the interventional device.
 38. The system of claim 37, further comprising a patient support platform, wherein the interventional device is located within an aperture of the patient support platform.
 39. The system of claim 37, further comprising a radio frequency coil configured to interact with the magnetic resonance imaging machine.
 40. The system of claim 37, wherein the frame comprises a cup-shaped frame. 